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Zero-Shot Object Navigation in unknown environments poses significant challenges for Unmanned Aerial Vehicles (UAVs) due to the conflict between high-level semantic reasoning requirements and limited onboard computational resources. To…

The inherent probabilistic nature of Large Language Models (LLMs) introduces an element of unpredictability, raising concerns about potential discrepancies in their output. This paper introduces an innovative approach aims to generate…

Large Language Models (LLMs) present a promising frontier in robotic task planning by leveraging extensive human knowledge. Nevertheless, the current literature often overlooks the critical aspects of robots' adaptability and error…

Recent large language models (LLMs) have demonstrated remarkable performance on a variety of natural language processing (NLP) tasks, leading to intense excitement about their applicability across various domains. Unfortunately, recent work…

We present an active mapping system that plans for both long-horizon exploration goals and short-term actions using a 3D Gaussian Splatting (3DGS) representation. Existing methods either do not take advantage of recent developments in…

Pre-trained large language models (LLMs) have demonstrated strong common-sense reasoning abilities, making them promising for robotic navigation and planning tasks. However, despite recent progress, bridging the gap between language…

In this work, we introduce SMART-LLM, an innovative framework designed for embodied multi-robot task planning. SMART-LLM: Smart Multi-Agent Robot Task Planning using Large Language Models (LLMs), harnesses the power of LLMs to convert…

While Large Language Models (LLM) enable non-experts to specify open-world multi-robot tasks, the generated plans often lack kinematic feasibility and are not efficient, especially in long-horizon scenarios. Formal methods like Linear…

Benefiting from the rapid advancements in large language models (LLMs), human-drone interaction has reached unprecedented opportunities. In this paper, we propose a method that integrates a fine-tuned CodeT5 model with the Unreal…

Vision-and-Language Navigation (VLN) refers to the task of enabling autonomous robots to navigate unfamiliar environments by following natural language instructions. While recent Large Vision-Language Models (LVLMs) have shown promise in…

Automated planning using a symbolic planning language, such as PDDL, is a general approach to producing optimal plans to achieve a stated goal. However, creating suitable machine understandable descriptions of the planning domain, problem,…

The rise of large language models (LLMs) has made natural language-driven route planning an emerging research area that encompasses rich user objectives. Current research exhibits two distinct approaches: direct route planning using…

The growing complexity of power systems has made accurate load forecasting more important than ever. An increasing number of advanced load forecasting methods have been developed. However, the static design of current methods offers no…

Foundation Models (FMs), e.g., large language models, possess attributes of intelligence which offer promise to endow a robot with the contextual understanding necessary to navigate complex, unstructured tasks in the wild. We see three core…

Participatory urban planning is the mainstream of modern urban planning and involves the active engagement of different stakeholders. However, the traditional participatory paradigm encounters challenges in time and manpower, while the…

Operations research (OR) is a core methodology that supports complex system decision-making, with broad applications in transportation, supply chain management, and production scheduling. However, traditional approaches that rely on…

Symbolic task planning is a widely used approach to enforce robot autonomy due to its ease of understanding and deployment in robot architectures. However, techniques for symbolic task planning are difficult to scale in real-world,…

This paper investigates the potential of vision-language models (VLMs) to assist people with blindness and low vision (pBLV) in navigation tasks. We evaluate state-of-the-art closed-source models, including GPT-4V, GPT-4o, Gemini-1.5-Pro,…

We present Large Language Model for Mixed Reality (LLMR), a framework for the real-time creation and modification of interactive Mixed Reality experiences using LLMs. LLMR leverages novel strategies to tackle difficult cases where ideal…

In the field of robotics and automation, navigation systems based on Large Language Models (LLMs) have recently demonstrated impressive performance. However, the security aspects of these systems have received relatively less attention.…